OpenRaiser/Intern-Atlas huggingface dataset:
Defending a Perimeter from a Ground Intruder Using an Aerial Defender: Theory and Practice
Venue: arXiv cs.RO 2021
Year: 2021

The perimeter defense game has received interest in recent years as a variant of the pursuit-evasion game. A number of previous works have solved this game to obtain the optimal strategies for defender and intruder, but the derived theory considers the players as point particles with first-order assumptions. In this work, we aim to apply the theory derived from the perimeter defense problem to robots with realistic models of actuation and sensing and observe performance discrepancy in relaxing the first-order assumptions. In particular, we focus on the hemisphere perimeter defense problem where a ground intruder tries to reach the base of a hemisphere while an aerial defender constrained to move on the hemisphere aims to capture the intruder. The transition from theory to practice is detailed, and the designed system is simulated in Gazebo. Two metrics for parametric analysis and comparative study are proposed to evaluate the performance discrepancy.
Hyper Meta-Path Contrastive Learning for Multi-Behavior Recommendation
Venue: arXiv cs.IR 2021
Year: 2021

User purchasing prediction with multi-behavior information remains a challenging problem for current recommendation systems. Various methods have been proposed to address it via leveraging the advantages of graph neural networks (GNNs) or multi-task learning. However, most existing works do not take the complex dependencies among different behaviors of users into consideration. They utilize simple and fixed schemes, like neighborhood information aggregation or mathematical calculation of vectors, to fuse the embeddings of different user behaviors to obtain a unified embedding to represent a user's behavioral patterns which will be used in downstream recommendation tasks. To tackle the challenge, in this paper, we first propose the concept of hyper meta-path to construct hyper meta-paths or hyper meta-graphs to explicitly illustrate the dependencies among different behaviors of a user. How to obtain a unified embedding for a user from hyper meta-paths and avoid the previously mentioned limitations simultaneously is critical. Thanks to the recent success of graph contrastive learning, we leverage it to learn embeddings of user behavior patterns adaptively instead of assigning a fixed scheme to understand the dependencies among different behaviors. A new graph contrastive learning based framework is proposed by coupling with hyper meta-paths, namely HMG-CR, which consistently and significantly outperforms all baselines in extensive comparison experiments.
Readying Medical Students for Medical AI: The Need to Embed AI Ethics Education
Venue: arXiv cs.AI 2021
Year: 2021

Medical students will almost inevitably encounter powerful medical AI systems early in their careers. Yet, contemporary medical education does not adequately equip students with the basic clinical proficiency in medical AI needed to use these tools safely and effectively. Education reform is urgently needed, but not easily implemented, largely due to an already jam-packed medical curricula. In this article, we propose an education reform framework as an effective and efficient solution, which we call the Embedded AI Ethics Education Framework. Unlike other calls for education reform to accommodate AI teaching that are more radical in scope, our framework is modest and incremental. It leverages existing bioethics or medical ethics curricula to develop and deliver content on the ethical issues associated with medical AI, especially the harms of technology misuse, disuse, and abuse that affect the risk-benefit analyses at the heart of healthcare. In doing so, the framework provides a simple tool for going beyond the "What?" and the "Why?" of medical AI ethics education, to answer the "How?", giving universities, course directors, and/or professors a broad road-map for equipping their students with the necessary clinical proficiency in medical AI.
Memory at Your Service: Fast Memory Allocation for Latency-critical Services
Venue: arXiv cs.DC 2021
Year: 2021

Co-location and memory sharing between latency-critical services, such as key-value store and web search, and best-effort batch jobs is an appealing approach to improving memory utilization in multi-tenant datacenter systems. However, we find that the very diverse goals of job co-location and the GNU/Linux system stack can lead to severe performance degradation of latency-critical services under memory pressure in a multi-tenant system. We address memory pressure for latency-critical services via fast memory allocation and proactive reclamation. We find that memory allocation latency dominates the overall query latency, especially under memory pressure. We analyze the default memory management mechanism provided by GNU/Linux system stack and identify the reasons why it is inefficient for latency-critical services in a multi-tenant system. We present Hermes, a fast memory allocation mechanism in user space that adaptively reserves memory for latency-critical services. It advises Linux OS to proactively reclaim memory of batch jobs. We implement Hermes in GNU C Library. Experimental result shows that Hermes reduces the average and the $99^{th}$ percentile memory allocation latency by up to 54.4% and 62.4% for a micro benchmark, respectively. For two real-world latency-critical services, Hermes reduces both the average and the $99^{th}$ percentile tail query latency by up to 40.3%. Compared to the default Glibc, jemalloc and TCMalloc, Hermes reduces Service Level Objective violation by up to 84.3% under memory pressure.
Heterogeneity-aware Twitter Bot Detection with Relational Graph Transformers
Venue: arXiv cs.SI 2021
Year: 2021

Twitter bot detection has become an important and challenging task to combat misinformation and protect the integrity of the online discourse. State-of-the-art approaches generally leverage the topological structure of the Twittersphere, while they neglect the heterogeneity of relations and influence among users. In this paper, we propose a novel bot detection framework to alleviate this problem, which leverages the topological structure of user-formed heterogeneous graphs and models varying influence intensity between users. Specifically, we construct a heterogeneous information network with users as nodes and diversified relations as edges. We then propose relational graph transformers to model heterogeneous influence between users and learn node representations. Finally, we use semantic attention networks to aggregate messages across users and relations and conduct heterogeneity-aware Twitter bot detection. Extensive experiments demonstrate that our proposal outperforms state-of-the-art methods on a comprehensive Twitter bot detection benchmark. Additional studies also bear out the effectiveness of our proposed relational graph transformers, semantic attention networks and the graph-based approach in general.
Naturalness Evaluation of Natural Language Generation in Task-oriented Dialogues using BERT
Venue: arXiv cs.CL 2021
Year: 2021

This paper presents an automatic method to evaluate the naturalness of natural language generation in dialogue systems. While this task was previously rendered through expensive and time-consuming human labor, we present this novel task of automatic naturalness evaluation of generated language. By fine-tuning the BERT model, our proposed naturalness evaluation method shows robust results and outperforms the baselines: support vector machines, bi-directional LSTMs, and BLEURT. In addition, the training speed and evaluation performance of naturalness model are improved by transfer learning from quality and informativeness linguistic knowledge.
Sensor-Augmented Egocentric-Video Captioning with Dynamic Modal Attention
Venue: arXiv cs.CV 2021
Year: 2021

Automatically describing video, or video captioning, has been widely studied in the multimedia field. This paper proposes a new task of sensor-augmented egocentric-video captioning, a newly constructed dataset for it called MMAC Captions, and a method for the newly proposed task that effectively utilizes multi-modal data of video and motion sensors, or inertial measurement units (IMUs). While conventional video captioning tasks have difficulty in dealing with detailed descriptions of human activities due to the limited view of a fixed camera, egocentric vision has greater potential to be used for generating the finer-grained descriptions of human activities on the basis of a much closer view. In addition, we utilize wearable-sensor data as auxiliary information to mitigate the inherent problems in egocentric vision: motion blur, self-occlusion, and out-of-camera-range activities. We propose a method for effectively utilizing the sensor data in combination with the video data on the basis of an attention mechanism that dynamically determines the modality that requires more attention, taking the contextual information into account. We compared the proposed sensor-fusion method with strong baselines on the MMAC Captions dataset and found that using sensor data as supplementary information to the egocentric-video data was beneficial, and that our proposed method outperformed the strong baselines, demonstrating the effectiveness of the proposed method.
FH-SWF SG at GermEval 2021: Using Transformer-Based Language Models to Identify Toxic, Engaging, & Fact-Claiming Comments
Venue: arXiv cs.CL 2021
Year: 2021

In this paper we describe the methods we used for our submissions to the GermEval 2021 shared task on the identification of toxic, engaging, and fact-claiming comments. For all three subtasks we fine-tuned freely available transformer-based models from the Huggingface model hub. We evaluated the performance of various pre-trained models after fine-tuning on 80% of the training data with different hyperparameters and submitted predictions of the two best performing resulting models. We found that this approach worked best for subtask 3, for which we achieved an F1-score of 0.736.
BERT based classification system for detecting rumours on Twitter
Venue: arXiv cs.LG 2021
Year: 2021

The role of social media in opinion formation has far-reaching implications in all spheres of society. Though social media provide platforms for expressing news and views, it is hard to control the quality of posts due to the sheer volumes of posts on platforms like Twitter and Facebook. Misinformation and rumours have lasting effects on society, as they tend to influence people's opinions and also may motivate people to act irrationally. It is therefore very important to detect and remove rumours from these platforms. The only way to prevent the spread of rumours is through automatic detection and classification of social media posts. Our focus in this paper is the Twitter social medium, as it is relatively easy to collect data from Twitter. The majority of previous studies used supervised learning approaches to classify rumours on Twitter. These approaches rely on feature extraction to obtain both content and context features from the text of tweets to distinguish rumours and non-rumours. Manually extracting features however is time-consuming considering the volume of tweets. We propose a novel approach to deal with this problem by utilising sentence embedding using BERT to identify rumours on Twitter, rather than the usual feature extraction techniques. We use sentence embedding using BERT to represent each tweet's sentences into a vector according to the contextual meaning of the tweet. We classify those vectors into rumours or non-rumours by using various supervised learning techniques. Our BERT based models improved the accuracy by approximately 10% as compared to previous methods.
Abstraction Logic: The Marriage of Contextual Refinement and Separation Logic
Venue: arXiv cs.PL 2021
Year: 2021

Contextual refinement and separation logics are successful verification techniques that are very different in nature. First, the former guarantees behavioral refinement between a concrete program and an abstract program while the latter guarantees safety of a concrete program under certain conditions (expressed in terms of pre and post conditions). Second, the former does not allow any assumption about the context when locally reasoning about a module while the latter allows rich assumptions. In this paper, we present a new verification technique, called abstraction logic (AL), that inherently combines contextual refinement and separation logics such as Iris and VST, thereby taking the advantages of both. Specifically, AL allows us to locally verify a concrete module against an abstract module under separation-logic-style pre and post conditions about external modules. AL are fully formalized in Coq and provides a proof mode that supports a combination of simulation-style reasoning using our own tactics and SL-style reasoning using IPM (Iris Proof Mode). Using the proof mode, we verified various examples to demonstrate reasoning about ownership (based on partial commutative monoids) and purity ($i.e.$, termination with no system call), cyclic and higher-order reasoning about mutual recursion and function pointers, and reusable and gradual verification via intermediate abstractions. Also, the verification results are combined with CompCert, so that we formally establish behavioral refinement from top-level abstract programs, all the way down to their assembly code.
Only Six Passive Circuit Elements Are Existent
Venue: arXiv cs.AR 2021
Year: 2021

We found that a second-order ideal memristor degenerates into a negative nonlinear resistor. This phenomenon is quite similar to what are observed in chemistry: a chemical element with a higher atomic number is unstable and may decay radioactively into another chemical element with a lower atomic number. After extending the above local activity (verified both graphically and analytically) to other higher-order circuit elements, we concluded that all higher-order passive memory circuit elements do not exist in nature and that the periodic table of the two-terminal passive circuit elements can be dramatically reduced to a six-pointed star comprising only six passive elements. Such a bounded table may mark the end of the hunt for missing higher-order passive circuit elements predicted nearly 40 years ago.
Early ICU Mortality Prediction and Survival Analysis for Respiratory Failure
Venue: arXiv cs.LG 2021
Year: 2021

Respiratory failure is the one of major causes of death in critical care unit. During the outbreak of COVID-19, critical care units experienced an extreme shortage of mechanical ventilation because of respiratory failure related syndromes. To help this, the early mortality risk prediction in patients who suffer respiratory failure can provide timely support for clinical treatment and resource management. In the study, we propose a dynamic modeling approach for early mortality risk prediction of the respiratory failure patients based on the first 24 hours ICU physiological data. Our proposed model is validated on the eICU collaborate database. We achieved a high AUROC performance (80-83%) and significantly improved AUCPR 4% on Day 5 since ICU admission, compared to the state-of-art prediction models. In addition, we illustrated that the survival curve includes the time-varying information for the early ICU admission survival analysis.
Sequential Diagnosis Prediction with Transformer and Ontological Representation
Venue: arXiv cs.LG 2021
Year: 2021

Sequential diagnosis prediction on the Electronic Health Record (EHR) has been proven crucial for predictive analytics in the medical domain. EHR data, sequential records of a patient's interactions with healthcare systems, has numerous inherent characteristics of temporality, irregularity and data insufficiency. Some recent works train healthcare predictive models by making use of sequential information in EHR data, but they are vulnerable to irregular, temporal EHR data with the states of admission/discharge from hospital, and insufficient data. To mitigate this, we propose an end-to-end robust transformer-based model called SETOR, which exploits neural ordinary differential equation to handle both irregular intervals between a patient's visits with admitted timestamps and length of stay in each visit, to alleviate the limitation of insufficient data by integrating medical ontology, and to capture the dependencies between the patient's visits by employing multi-layer transformer blocks. Experiments conducted on two real-world healthcare datasets show that, our sequential diagnoses prediction model SETOR not only achieves better predictive results than previous state-of-the-art approaches, irrespective of sufficient or insufficient training data, but also derives more interpretable embeddings of medical codes. The experimental codes are available at the GitHub repository (https://github.com/Xueping/SETOR).
Support Vector Machine for Handwritten Character Recognition
Venue: arXiv cs.CV 2021
Year: 2021

Handwriting recognition has been one of the most fascinating and challenging research areas in field of image processing and pattern recognition. It contributes enormously to the improvement of automation process. In this paper, a system for recognition of unconstrained handwritten Malayalam characters is proposed. A database of 10,000 character samples of 44 basic Malayalam characters is used in this work. A discriminate feature set of 64 local and 4 global features are used to train and test SVM classifier and achieved 92.24% accuracy
Optimal Stroke Learning with Policy Gradient Approach for Robotic Table Tennis
Venue: arXiv cs.RO 2021
Year: 2021

Learning to play table tennis is a challenging task for robots, as a wide variety of strokes required. Recent advances have shown that deep Reinforcement Learning (RL) is able to successfully learn the optimal actions in a simulated environment. However, the applicability of RL in real scenarios remains limited due to the high exploration effort. In this work, we propose a realistic simulation environment in which multiple models are built for the dynamics of the ball and the kinematics of the robot. Instead of training an end-to-end RL model, a novel policy gradient approach with TD3 backbone is proposed to learn the racket strokes based on the predicted state of the ball at the hitting time. In the experiments, we show that the proposed approach significantly outperforms the existing RL methods in simulation. Furthermore, to cross the domain from simulation to reality, we adopt an efficient retraining method and test it in three real scenarios. The resulting success rate is 98% and the distance error is around 24.9 cm. The total training time is about 1.5 hours.
COCO Denoiser: Using Co-Coercivity for Variance Reduction in Stochastic Convex Optimization
Venue: arXiv cs.LG 2021
Year: 2021

First-order methods for stochastic optimization have undeniable relevance, in part due to their pivotal role in machine learning. Variance reduction for these algorithms has become an important research topic. In contrast to common approaches, which rarely leverage global models of the objective function, we exploit convexity and L-smoothness to improve the noisy estimates outputted by the stochastic gradient oracle. Our method, named COCO denoiser, is the joint maximum likelihood estimator of multiple function gradients from their noisy observations, subject to co-coercivity constraints between them. The resulting estimate is the solution of a convex Quadratically Constrained Quadratic Problem. Although this problem is expensive to solve by interior point methods, we exploit its structure to apply an accelerated first-order algorithm, the Fast Dual Proximal Gradient method. Besides analytically characterizing the proposed estimator, we show empirically that increasing the number and proximity of the queried points leads to better gradient estimates. We also apply COCO in stochastic settings by plugging it in existing algorithms, such as SGD, Adam or STRSAGA, outperforming their vanilla versions, even in scenarios where our modelling assumptions are mismatched.
Revisiting Recursive Least Squares for Training Deep Neural Networks
Venue: arXiv cs.LG 2021
Year: 2021

Recursive least squares (RLS) algorithms were once widely used for training small-scale neural networks, due to their fast convergence. However, previous RLS algorithms are unsuitable for training deep neural networks (DNNs), since they have high computational complexity and too many preconditions. In this paper, to overcome these drawbacks, we propose three novel RLS optimization algorithms for training feedforward neural networks, convolutional neural networks and recurrent neural networks (including long short-term memory networks), by using the error backpropagation and our average-approximation RLS method, together with the equivalent gradients of the linear least squares loss function with respect to the linear outputs of hidden layers. Compared with previous RLS optimization algorithms, our algorithms are simple and elegant. They can be viewed as an improved stochastic gradient descent (SGD) algorithm, which uses the inverse autocorrelation matrix of each layer as the adaptive learning rate. Their time and space complexities are only several times those of SGD. They only require the loss function to be the mean squared error and the activation function of the output layer to be invertible. In fact, our algorithms can be also used in combination with other first-order optimization algorithms without requiring these two preconditions. In addition, we present two improved methods for our algorithms. Finally, we demonstrate their effectiveness compared to the Adam algorithm on MNIST, CIFAR-10 and IMDB datasets, and investigate the influences of their hyperparameters experimentally.
Beyond Preserved Accuracy: Evaluating Loyalty and Robustness of BERT Compression
Venue: arXiv cs.CL 2021
Year: 2021

Recent studies on compression of pretrained language models (e.g., BERT) usually use preserved accuracy as the metric for evaluation. In this paper, we propose two new metrics, label loyalty and probability loyalty that measure how closely a compressed model (i.e., student) mimics the original model (i.e., teacher). We also explore the effect of compression with regard to robustness under adversarial attacks. We benchmark quantization, pruning, knowledge distillation and progressive module replacing with loyalty and robustness. By combining multiple compression techniques, we provide a practical strategy to achieve better accuracy, loyalty and robustness.
Learned Provability Likelihood for Tactical Search
Venue: arXiv cs.LO 2021
Year: 2021

We present a method to estimate the provability of a mathematical formula. We adapt the tactical theorem prover TacticToe to factor in these estimations. Experiments over the HOL4 library show an increase in the number of theorems re-proven by TacticToe thanks to this additional guidance. This amelioration in performance together with concurrent updates to the TacticToe framework lead to an improved user experience.
A Dual-Decoder Conformer for Multilingual Speech Recognition
Venue: arXiv cs.CL 2021
Year: 2021

Transformer-based models have recently become very popular for sequence-to-sequence applications such as machine translation and speech recognition. This work proposes a dual-decoder transformer model for low-resource multilingual speech recognition for Indian languages. Our proposed model consists of a Conformer [1] encoder, two parallel transformer decoders, and a language classifier. We use a phoneme decoder (PHN-DEC) for the phoneme recognition task and a grapheme decoder (GRP-DEC) to predict grapheme sequence along with language information. We consider phoneme recognition and language identification as auxiliary tasks in the multi-task learning framework. We jointly optimize the network for phoneme recognition, grapheme recognition, and language identification tasks with Joint CTC-Attention [2] training. Our experiments show that we can obtain a significant reduction in WER over the baseline approaches. We also show that our dual-decoder approach obtains significant improvement over the single decoder approach.